EP4040215A4 - Control method and control device for lidar galvanometer, and lidar - Google Patents

Control method and control device for lidar galvanometer, and lidar Download PDF

Info

Publication number
EP4040215A4
EP4040215A4 EP19945479.4A EP19945479A EP4040215A4 EP 4040215 A4 EP4040215 A4 EP 4040215A4 EP 19945479 A EP19945479 A EP 19945479A EP 4040215 A4 EP4040215 A4 EP 4040215A4
Authority
EP
European Patent Office
Prior art keywords
lidar
galvanometer
control device
control method
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP19945479.4A
Other languages
German (de)
French (fr)
Other versions
EP4040215B1 (en
EP4040215C0 (en
EP4040215A1 (en
Inventor
Shaodong YANG
Jingyang ZHENG
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suteng Innovation Technology Co Ltd
Original Assignee
Suteng Innovation Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suteng Innovation Technology Co Ltd filed Critical Suteng Innovation Technology Co Ltd
Publication of EP4040215A1 publication Critical patent/EP4040215A1/en
Publication of EP4040215A4 publication Critical patent/EP4040215A4/en
Application granted granted Critical
Publication of EP4040215B1 publication Critical patent/EP4040215B1/en
Publication of EP4040215C0 publication Critical patent/EP4040215C0/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems
    • G02B26/105—Scanning systems with one or more pivoting mirrors or galvano-mirrors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B1/00—Comparing elements, i.e. elements for effecting comparison directly or indirectly between a desired value and existing or anticipated values
    • G05B1/01—Comparing elements, i.e. elements for effecting comparison directly or indirectly between a desired value and existing or anticipated values electric
    • G05B1/02—Comparing elements, i.e. elements for effecting comparison directly or indirectly between a desired value and existing or anticipated values electric for comparing analogue signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B1/00—Comparing elements, i.e. elements for effecting comparison directly or indirectly between a desired value and existing or anticipated values
    • G05B1/01—Comparing elements, i.e. elements for effecting comparison directly or indirectly between a desired value and existing or anticipated values electric
    • G05B1/04—Comparing elements, i.e. elements for effecting comparison directly or indirectly between a desired value and existing or anticipated values electric with sensing of the position of the pointer of a measuring instrument
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/011—Automatic controllers electric details of the correcting means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/26—Automatic controllers electric in which the output signal is a pulse-train
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/20—Control of position or direction using feedback using a digital comparing device

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optics & Photonics (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Optical Scanning Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
EP19945479.4A 2019-09-30 2019-09-30 Control method and control device for lidar galvanometer, and lidar Active EP4040215B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/109478 WO2021051454A1 (en) 2019-09-30 2019-09-30 Control method and control device for lidar galvanometer, and lidar

Publications (4)

Publication Number Publication Date
EP4040215A1 EP4040215A1 (en) 2022-08-10
EP4040215A4 true EP4040215A4 (en) 2022-11-02
EP4040215B1 EP4040215B1 (en) 2024-01-17
EP4040215C0 EP4040215C0 (en) 2024-01-17

Family

ID=74884402

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19945479.4A Active EP4040215B1 (en) 2019-09-30 2019-09-30 Control method and control device for lidar galvanometer, and lidar

Country Status (4)

Country Link
US (1) US11536954B2 (en)
EP (1) EP4040215B1 (en)
CN (1) CN112888985B (en)
WO (1) WO2021051454A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113625247B (en) * 2021-10-11 2022-03-04 北京一径科技有限公司 Control method and device and laser radar
CN116400374B (en) * 2023-05-04 2024-05-03 深圳市华众自动化工程有限公司 Measuring device and method based on high-precision laser signal acquisition

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040119811A1 (en) * 2002-12-23 2004-06-24 Bush Craig P. Scanning with multiple oscillating scanners
US20110019252A1 (en) * 2007-08-30 2011-01-27 Canon Kabushiki Kaisha Oscillator device, optical deflector and image forming apparatus using the same
EP2738572A1 (en) * 2012-12-03 2014-06-04 Hokuyo Automatic Co. Ltd. Deflector, optical scanner, and scanning distance measuring equipment
CN106526834A (en) * 2016-10-21 2017-03-22 深圳市微觉未来科技有限公司 Scanning mirror and scanning method thereof

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5204848A (en) * 1991-06-17 1993-04-20 International Business Machines Corporation Adjusting amplitude detection threshold by feeding back timing-data phase errors
US5757751A (en) * 1996-01-16 1998-05-26 International Business Machines Corporation Baseline correction circuit for pulse width modulated data readback systems
US7107848B2 (en) * 2004-12-03 2006-09-19 Texas Instruments Incorporated Active scan velocity control for torsional hinged MEMS scanner
CN101008837A (en) * 2006-01-26 2007-08-01 深圳市大族激光科技股份有限公司 Device and method for adjusting vibrating mirror driver
CN101477248B (en) * 2009-01-22 2011-04-13 中国科学院光电技术研究所 Double-torsion bar resonance scanning reflection mirror
CN101778325A (en) * 2010-01-28 2010-07-14 无锡职业技术学院 Silicon-based capacitance microphone-based micro-electromechanical mirror motion feedback control system
CN107526096B (en) * 2017-08-15 2019-06-25 江苏超敏仪器有限公司 A method of amendment temperature is to SiPM gain effects
CN108089177A (en) * 2018-01-30 2018-05-29 深圳市速腾聚创科技有限公司 Laser radar and laser radar control method
CN108594869B (en) * 2018-01-09 2021-04-16 南京理工大学 Micromirror control method and system based on real-time estimation of resonance point

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040119811A1 (en) * 2002-12-23 2004-06-24 Bush Craig P. Scanning with multiple oscillating scanners
US20110019252A1 (en) * 2007-08-30 2011-01-27 Canon Kabushiki Kaisha Oscillator device, optical deflector and image forming apparatus using the same
EP2738572A1 (en) * 2012-12-03 2014-06-04 Hokuyo Automatic Co. Ltd. Deflector, optical scanner, and scanning distance measuring equipment
CN106526834A (en) * 2016-10-21 2017-03-22 深圳市微觉未来科技有限公司 Scanning mirror and scanning method thereof

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
ANONYMOUS: "Control system - Wikipedia, the free encyclopedia", 28 September 2011 (2011-09-28), pages 1 - 6, XP055962659, Retrieved from the Internet <URL:https://web.archive.org/web/20110928175345/https://en.wikipedia.org/wiki/Control_system> [retrieved on 20220920] *
See also references of WO2021051454A1 *

Also Published As

Publication number Publication date
US20220221711A1 (en) 2022-07-14
EP4040215B1 (en) 2024-01-17
EP4040215C0 (en) 2024-01-17
CN112888985B (en) 2022-04-05
WO2021051454A1 (en) 2021-03-25
US11536954B2 (en) 2022-12-27
EP4040215A1 (en) 2022-08-10
CN112888985A (en) 2021-06-01

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